[C++] Tracking issue: Support row format serializer for C++ types

## Is your feature request related to a problem? Please describe.

Currently we only have raw `Writer`s in C++ fury implementation,
it's not supposed to be directly used by users for their own classes.

Instead, we can support serializers via a more intuitive way, e.g.
```c++
struct Something {
int val1;
float val2;
...
};

FURY_FIELD_INFO(Something, val1, val2, ...);

Something a = ...;
serializer.encode(a); // including schema building and writer codegen
```

## Describe the solution you'd like
Steps:
- [x] #1144
- [x] #1151
- [x] #1158
- [x] #1172
- [x] #1173
- [x] #1193
- [x] #1212
- [x] #1215
- [x] #1223
- [ ] Support map types
- [ ] Documentation for users
- [ ] ...

## Additional context
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